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          <physm:Z>0</physm:Z>
        </MeshRotation>
        <MeshTranslation>
          <physm:X>0</physm:X>
          <physm:Y>0</physm:Y>
          <physm:Z>0</physm:Z>
        </MeshTranslation>
        <WheelShape>
          <phys:WheelState>
            <phys:Name>IRobotCreateMotorBase0/IRobotCreateMotorBase[1]/IRobotCreateMotorBase/front right wheel</phys:Name>
            <phys:ShapeId>Wheel</phys:ShapeId>
            <phys:Dimensions>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
            </phys:Dimensions>
            <phys:Radius>0.025</phys:Radius>
            <phys:Material>
              <phys:Name>default wheel material</phys:Name>
              <phys:Restitution>0</phys:Restitution>
              <phys:DynamicFriction>0</phys:DynamicFriction>
              <phys:StaticFriction>0</phys:StaticFriction>
              <phys:MaterialIndex>19</phys:MaterialIndex>
            </phys:Material>
            <phys:MassDensity>
              <phys:Mass>0.01</phys:Mass>
              <phys:InertiaTensor>
                <physm:X>0</physm:X>
                <physm:Y>0</physm:Y>
                <physm:Z>0</physm:Z>
              </phys:InertiaTensor>
              <phys:CenterOfMass>
                <physm:Position>
                  <physm:X>0</physm:X>
                  <physm:Y>0</physm:Y>
                  <physm:Z>0</physm:Z>
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                <physm:Orientation>
                  <physm:X>0</physm:X>
                  <physm:Y>0</physm:Y>
                  <physm:Z>0</physm:Z>
                  <physm:W>0</physm:W>
                </physm:Orientation>
              </phys:CenterOfMass>
              <phys:Density>0</phys:Density>
              <phys:LinearDamping>0</phys:LinearDamping>
              <phys:AngularDamping>0</phys:AngularDamping>
            </phys:MassDensity>
            <phys:LocalPose>
              <physm:Position>
                <physm:X>0.13</physm:X>
                <physm:Y>0.025</physm:Y>
                <physm:Z>0.01</physm:Z>
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              <physm:Orientation>
                <physm:X>0</physm:X>
                <physm:Y>0</physm:Y>
                <physm:Z>0</physm:Z>
                <physm:W>1</physm:W>
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            </phys:LocalPose>
            <phys:TextureFileName />
            <phys:DiffuseColor>
              <physm:X>0.5</physm:X>
              <physm:Y>0.5</physm:Y>
              <physm:Z>0.5</physm:Z>
              <physm:W>1</physm:W>
            </phys:DiffuseColor>
            <phys:EnableContactNotifications>false</phys:EnableContactNotifications>
            <phys:InnerRadius>0.0175</phys:InnerRadius>
            <phys:SuspensionTravel>0</phys:SuspensionTravel>
            <phys:Flags>OverrideAxleSpeed</phys:Flags>
            <phys:AxleSpeed>0</phys:AxleSpeed>
            <phys:BrakeTorque>0</phys:BrakeTorque>
          </phys:WheelState>
        </WheelShape>
      </RightWheel>
      <LeftWheel>
        <sim:State>
          <sim:Name>IRobotCreateMotorBase:Left wheel</sim:Name>
          <sim:Assets>
            <sim:Effect>default</sim:Effect>
          </sim:Assets>
          <sim:Pose>
            <physm:Position>
              <physm:X>2.841988</physm:X>
              <physm:Y>-0.0009999884</physm:Y>
              <physm:Z>0.00468620472</physm:Z>
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            <physm:Orientation>
              <physm:X>-1.69529866E-08</physm:X>
              <physm:Y>-0.000220024987</physm:Y>
              <physm:Z>1.31723E-07</physm:Z>
              <physm:W>1</physm:W>
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          <sim:Velocity>
            <physm:X>0</physm:X>
            <physm:Y>0</physm:Y>
            <physm:Z>0</physm:Z>
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          <sim:AngularVelocity>
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            <physm:Y>0</physm:Y>
            <physm:Z>0</physm:Z>
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          <sim:MassDensity>
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              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
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            <phys:CenterOfMass>
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                <physm:X>0</physm:X>
                <physm:Y>0</physm:Y>
                <physm:Z>0</physm:Z>
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              <physm:Orientation>
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                <physm:Y>0</physm:Y>
                <physm:Z>0</physm:Z>
                <physm:W>0</physm:W>
              </physm:Orientation>
            </phys:CenterOfMass>
            <phys:Density>0</phys:Density>
            <phys:LinearDamping>0</phys:LinearDamping>
            <phys:AngularDamping>0</phys:AngularDamping>
          </sim:MassDensity>
          <sim:Flags>Dynamic</sim:Flags>
        </sim:State>
        <Flags>None</Flags>
        <ChildCount>0</ChildCount>
        <ReferenceFrame>NotSet</ReferenceFrame>
        <MeshScale>
          <physm:X>1</physm:X>
          <physm:Y>1</physm:Y>
          <physm:Z>1</physm:Z>
        </MeshScale>
        <MeshRotation>
          <physm:X>0</physm:X>
          <physm:Y>0</physm:Y>
          <physm:Z>0</physm:Z>
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        <MeshTranslation>
          <physm:X>0</physm:X>
          <physm:Y>0</physm:Y>
          <physm:Z>0</physm:Z>
        </MeshTranslation>
        <WheelShape>
          <phys:WheelState>
            <phys:Name>IRobotCreateMotorBase0/IRobotCreateMotorBase[1]/IRobotCreateMotorBase/front left wheel</phys:Name>
            <phys:ShapeId>Wheel</phys:ShapeId>
            <phys:Dimensions>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
            </phys:Dimensions>
            <phys:Radius>0.025</phys:Radius>
            <phys:Material>
              <phys:Name>default wheel material</phys:Name>
              <phys:Restitution>0</phys:Restitution>
              <phys:DynamicFriction>0</phys:DynamicFriction>
              <phys:StaticFriction>0</phys:StaticFriction>
              <phys:MaterialIndex>18</phys:MaterialIndex>
            </phys:Material>
            <phys:MassDensity>
              <phys:Mass>0.01</phys:Mass>
              <phys:InertiaTensor>
                <physm:X>0</physm:X>
                <physm:Y>0</physm:Y>
                <physm:Z>0</physm:Z>
              </phys:InertiaTensor>
              <phys:CenterOfMass>
                <physm:Position>
                  <physm:X>0</physm:X>
                  <physm:Y>0</physm:Y>
                  <physm:Z>0</physm:Z>
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                <physm:Orientation>
                  <physm:X>0</physm:X>
                  <physm:Y>0</physm:Y>
                  <physm:Z>0</physm:Z>
                  <physm:W>0</physm:W>
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              </phys:CenterOfMass>
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              <phys:LinearDamping>0</phys:LinearDamping>
              <phys:AngularDamping>0</phys:AngularDamping>
            </phys:MassDensity>
            <phys:LocalPose>
              <physm:Position>
                <physm:X>-0.13</physm:X>
                <physm:Y>0.025</physm:Y>
                <physm:Z>0.01</physm:Z>
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              <physm:Orientation>
                <physm:X>0</physm:X>
                <physm:Y>0</physm:Y>
                <physm:Z>0</physm:Z>
                <physm:W>1</physm:W>
              </physm:Orientation>
            </phys:LocalPose>
            <phys:TextureFileName />
            <phys:DiffuseColor>
              <physm:X>0.5</physm:X>
              <physm:Y>0.5</physm:Y>
              <physm:Z>0.5</physm:Z>
              <physm:W>1</physm:W>
            </phys:DiffuseColor>
            <phys:EnableContactNotifications>false</phys:EnableContactNotifications>
            <phys:InnerRadius>0.0175</phys:InnerRadius>
            <phys:SuspensionTravel>0</phys:SuspensionTravel>
            <phys:Flags>OverrideAxleSpeed</phys:Flags>
            <phys:AxleSpeed>0</phys:AxleSpeed>
            <phys:BrakeTorque>0</phys:BrakeTorque>
          </phys:WheelState>
        </WheelShape>
      </LeftWheel>
      <CasterWheelShape>
        <phys:SphereState>
          <phys:Name>IRobotCreateMotorBase0/IRobotCreateMotorBase[1]/IRobotCreateMotorBase/Caster wheel</phys:Name>
          <phys:ShapeId>Sphere</phys:ShapeId>
          <phys:Dimensions>
            <physm:X>0</physm:X>
            <physm:Y>0</physm:Y>
            <physm:Z>0</physm:Z>
          </phys:Dimensions>
          <phys:Radius>0.0125</phys:Radius>
          <phys:Material>
            <phys:Name>small friction with anisotropy</phys:Name>
            <phys:Restitution>0.5</phys:Restitution>
            <phys:DynamicFriction>0.5</phys:DynamicFriction>
            <phys:StaticFriction>1</phys:StaticFriction>
            <phys:MaterialIndex>17</phys:MaterialIndex>
            <phys:Advanced>
              <phys:AnisotropicStaticFriction>0.4</phys:AnisotropicStaticFriction>
              <phys:AnisotropicDynamicFriction>0.3</phys:AnisotropicDynamicFriction>
              <phys:AnisotropyDirection>
                <physm:X>0</physm:X>
                <physm:Y>0</physm:Y>
                <physm:Z>1</physm:Z>
              </phys:AnisotropyDirection>
              <phys:RestitutionCombineMode>Unspecified</phys:RestitutionCombineMode>
              <phys:FrictionCombineMode>Unspecified</phys:FrictionCombineMode>
              <phys:Optical />
            </phys:Advanced>
          </phys:Material>
          <phys:MassDensity>
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              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
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                <physm:W>0</physm:W>
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            <phys:LinearDamping>0</phys:LinearDamping>
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          <phys:LocalPose>
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              <physm:X>0</physm:X>
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            <physm:Orientation>
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              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
              <physm:W>1</physm:W>
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          <phys:TextureFileName />
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            <physm:Y>0.5</physm:Y>
            <physm:Z>0.5</physm:Z>
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          </phys:DiffuseColor>
          <phys:EnableContactNotifications>false</phys:EnableContactNotifications>
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      </CasterWheelShape>
      <frontWheelShape>
        <phys:SphereState>
          <phys:Name>IRobotCreateMotorBase0/IRobotCreateMotorBase[1]/IRobotCreateMotorBase/front wheel</phys:Name>
          <phys:ShapeId>Sphere</phys:ShapeId>
          <phys:Dimensions>
            <physm:X>0</physm:X>
            <physm:Y>0</physm:Y>
            <physm:Z>0</physm:Z>
          </phys:Dimensions>
          <phys:Radius>0.0125</phys:Radius>
          <phys:Material>
            <phys:Name>small friction with anisotropy</phys:Name>
            <phys:Restitution>0.5</phys:Restitution>
            <phys:DynamicFriction>0.5</phys:DynamicFriction>
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            <phys:Advanced>
              <phys:AnisotropicStaticFriction>0.4</phys:AnisotropicStaticFriction>
              <phys:AnisotropicDynamicFriction>0.3</phys:AnisotropicDynamicFriction>
              <phys:AnisotropyDirection>
                <physm:X>0</physm:X>
                <physm:Y>0</physm:Y>
                <physm:Z>1</physm:Z>
              </phys:AnisotropyDirection>
              <phys:RestitutionCombineMode>Unspecified</phys:RestitutionCombineMode>
              <phys:FrictionCombineMode>Unspecified</phys:FrictionCombineMode>
              <phys:Optical />
            </phys:Advanced>
          </phys:Material>
          <phys:MassDensity>
            <phys:Mass>0.001</phys:Mass>
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            <phys:LinearDamping>0</phys:LinearDamping>
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          </phys:MassDensity>
          <phys:LocalPose>
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              <physm:X>0</physm:X>
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            <physm:Orientation>
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            <physm:X>0.5</physm:X>
            <physm:Y>0.5</physm:Y>
            <physm:Z>0.5</physm:Z>
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          </phys:DiffuseColor>
          <phys:EnableContactNotifications>false</phys:EnableContactNotifications>
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      </frontWheelShape>
      <Bumpers>
        <BoxShape>
          <phys:BoxState>
            <phys:Name>IRobotCreateMotorBase0/IRobotCreateMotorBase[1]/IRobotCreateMotorBase/L1</phys:Name>
            <phys:ShapeId>Box</phys:ShapeId>
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            <phys:Radius>0</phys:Radius>
            <phys:Material>
              <phys:Name>iRobotCreate chassis</phys:Name>
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              <phys:DynamicFriction>0.25</phys:DynamicFriction>
              <phys:StaticFriction>0.5</phys:StaticFriction>
              <phys:MaterialIndex>8</phys:MaterialIndex>
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            <phys:MassDensity>
              <phys:Mass>0.001</phys:Mass>
              <phys:InertiaTensor>
                <physm:X>0</physm:X>
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            <phys:EnableContactNotifications>true</phys:EnableContactNotifications>
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        <BoxShape>
          <phys:BoxState>
            <phys:Name>IRobotCreateMotorBase0/IRobotCreateMotorBase[1]/IRobotCreateMotorBase/L2</phys:Name>
            <phys:ShapeId>Box</phys:ShapeId>
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            <phys:Radius>0</phys:Radius>
            <phys:Material>
              <phys:Name>iRobotCreate chassis</phys:Name>
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              <phys:StaticFriction>0.5</phys:StaticFriction>
              <phys:MaterialIndex>9</phys:MaterialIndex>
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            <phys:MassDensity>
              <phys:Mass>0.001</phys:Mass>
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            <phys:EnableContactNotifications>true</phys:EnableContactNotifications>
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        <BoxShape>
          <phys:BoxState>
            <phys:Name>IRobotCreateMotorBase0/IRobotCreateMotorBase[1]/IRobotCreateMotorBase/L3</phys:Name>
            <phys:ShapeId>Box</phys:ShapeId>
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            <phys:Radius>0</phys:Radius>
            <phys:Material>
              <phys:Name>iRobotCreate chassis</phys:Name>
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              <phys:DynamicFriction>0.25</phys:DynamicFriction>
              <phys:StaticFriction>0.5</phys:StaticFriction>
              <phys:MaterialIndex>10</phys:MaterialIndex>
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            <phys:MassDensity>
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        <BoxShape>
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          <physm:Projection>
            <physm:ProjectionMode>LinearMinimumDistance</physm:ProjectionMode>
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      <ReferenceFrame>Global</ReferenceFrame>
      <ServiceContract>http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulatedbumper.html</ServiceContract>
      <MeshScale>
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      <Shapes>
        <BoxShape>
          <phys:BoxState>
            <phys:Name>IRobotCreateBumperRight[1]/IRobotCreateBumperRight/Right</phys:Name>
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              <phys:InertiaTensor>
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                <physm:Orientation>
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            <phys:LocalPose>
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            <phys:TextureFileName />
            <phys:DiffuseColor>
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              <physm:Y>0.5</physm:Y>
              <physm:Z>0.5</physm:Z>
              <physm:W>1</physm:W>
            </phys:DiffuseColor>
            <phys:EnableContactNotifications>true</phys:EnableContactNotifications>
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        </BoxShape>
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    </BumperArrayEntity>
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</SimulationState>